3.3.6 Measurement
Two types of measurement are available with Xsens DOT. Table 5 shows the available
output rates for different types of measurement.
Table 5: Output rates
Measurement Available output rates
Real-time streaming 1Hz, 4Hz, 10Hz, 12Hz, 15Hz, 20Hz, 30Hz and 60Hz
Recording 1Hz, 4Hz, 10Hz, 12Hz, 15Hz, 20Hz, 30Hz, 60Hz and 120Hz
By choosing lower output rates, less data per unit time will be transmitted when compared
to the standard 60Hz output rate. As a result, this can mitigate the occurrence of data loss
in Real-Time Streaming mode and less data will be stored, thereby recording time can be
extended. Conversely, the higher output rate (120Hz) is better suited for high-dynamic
applications, where a larger amount of data is needed. However, the higher output rate is
only available for Recording mode.
Real-time streaming
In real-time streaming, motion data is streamed and logged to central device (such as the
mobile phone) via constant Bluetooth connection.
Sensor fusion data, inertial data and other custom data combinations are provided in real-
time streaming, together with packet counter and timestamp. Refer to Chapter 4 for data
output specifications.
NOTES:
• In the Xsens DOT App, to make plotting data readable, orientation data will always
be displayed in Euler angles, whereas data in the log file will be stored in the chosen
format (Euler or quaternion).
• In the Xsens DOT App, to make plotting data readable, inertial data will always be
displayed as acceleration (m/s2) and angular velocity (degrees/s) whereas data in
the log file will be stored in the chosen format (high fidelity, delta quantities or rate
quantities).
• Sensor will still be in streaming status even if the Bluetooth connection is lost. So
stop the streaming after every measurement to prevent battery drain.
High fidelity mode
High fidelity mode is available in real-time streaming. In this mode, Xsens proprietary data
format will be transmitted via Bluetooth and parsed in Xsens DOT App or SDK. The
advantage of this mode is that even in the case of transient data loss, higher frequency
(800 Hz) information is still preserved with lower output data rate (60 Hz).
High fidelity data will be parsed to delta_q, delta_v in Xsens DOT app. Functions to parse
high fidelity data to delta_q, delta_v or calibrated angular velocity and acceleration are
available in SDK. Refer to SDK programming guide for detailed information.
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